/*
  初始化任务

  根据机器人的FLASH配置，决定生成哪些任务。
*/

/* Includes ----------------------------------------------------------------- */
#include "task\user_task.h"

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

osMessageQueueId_t adcQueueHandle;
osMessageQueueId_t pcQueueHandle;
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * \brief 初始化
 *
 * \param argument 未使用
 */
void Task_Init(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */

  osKernelLock(); // 锁定内核，防止任务切换

  // 创建任务，确保任务创建成功
  
  osThreadId_t monitorTaskHandle = osThreadNew(Task_Monitor, NULL, &attr_monitor);
  osThreadId_t adcReadTaskHandle = osThreadNew(Task_Adc, NULL, &attr_adc);
  osThreadId_t canTaskHandle = osThreadNew(Task_Can, NULL, &attr_can);
  osThreadId_t pcTaskHandle = osThreadNew(Task_PC, NULL, &attr_pc);
  //创建消息队列
  adcQueueHandle = osMessageQueueNew(2u, sizeof(uint16_t), NULL);
  pcQueueHandle = osMessageQueueNew(2u, sizeof(uint16_t), NULL);
  osKernelUnlock(); // 解锁内核
  osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
}